/* AIBiDirectionalSearch is a constructor for this class
* Parameter: Vector3 goalToAdd - location of the goal
* AIPolygon[] polygonArrayToAdd - array holding the polygons that will be used to search
*/
public AIBiDirectionalSearch(Vector3 goalToAdd, AIPolygon[] polygonArrayToAdd)
{
polygonArray = polygonArrayToAdd;
polygonFinalCount = 0;
maxQueueSize = 0;
nodesVisited = 0;
finalPathCost = 0f;
agentToGoal = new AIBiDirectionalAStarAgent(goalToAdd, polygonArray, false);
goalToAgent = new AIBiDirectionalAStarAgent(AINavigationMeshAgent.agentStart, polygonArray, true);
}
/* The getPathFromBiDirectionAgent gets the path from the AIBiDirectionalAStarAgent and sets
* the stats needed for analysis( final polygon count, nodes visited, and maz queue size)
* Parameter: AIBiDirectionalAStarAgent agentThatFoundPath - Agent that carried out the search
*/
void getPathFromBiDirectionAgent(AIBiDirectionalAStarAgent agentThatFoundPath)
{
finalSolutionArray = agentThatFoundPath.getFinalPath();
polygonFinalCount = agentThatFoundPath.getFinalPathLength();
for (int count = 1; count < finalSolutionArray.Length; count++)
{
finalPathCost += (finalSolutionArray [count].getCenterVector() - finalSolutionArray [count - 1].getCenterVector()).magnitude;
}
nodesVisited = agentToGoal.getNodesVisited() + goalToAgent.getNodesVisited();
maxQueueSize = agentToGoal.getMaxQueueSize() + goalToAgent.getMaxQueueSize();
}
